CN106405670B - A kind of gravity anomaly data processing method suitable for strapdown marine gravitometer - Google Patents
A kind of gravity anomaly data processing method suitable for strapdown marine gravitometer Download PDFInfo
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Abstract
The present invention relates to a kind of gravity anomaly data processing methods suitable for strapdown marine gravitometer, this method uses kalman wave filters, estimate the attitude error in inertial navigation resolving, it vertical is modified to attitude matrix and than force component, it obtains more accurately comparing force information, the position that must be provided by PPP technologies again, speed and elevation information calculate each correction member of gravity, it is finally low-pass filtered to obtain the gravity anomaly information along course line, the present invention can be used for the processing of marine gravitometer data, strong antijamming capability, with higher data processing precision, the data processing method that can be extracted as high-precision marine gravitometer gravity anomaly, gravity anomaly especially suitable for Accurate Strapdown formula moving base marine gravitometer is extracted.
Description
Technical field
The present invention relates to a kind of gravity anomaly data processing methods suitable for strapdown marine gravitometer, belong to aviation boat
The technical field of measurement and test of its high-precision inertance element.
Background technology
At present, gravity measurement is widely used in terms of the civilian and scientific researches such as resource exploration, earth tide monitoring.Moving base
The appearance of gravity measuring system makes it possible efficient, large-scale gravity measurement.In contrast to platform-type gravimeter, strapdown
Gravimeter has small, low in energy consumption, simple in structure, high reliability.Strapdown moving base marine gravitometer gravity is different
The data processing method often extracted is the key technology that strapdown gravimeter is applied to sea gravity measurement.
It is required that the precision of gravity measuring system is better than 1mGal (1mGal=10-5m/s2=1 μ g).This puies forward gravity anomaly
For the data processing method taken, it is proposed that very high requirement.Due to the sensibility of gravimetric data, the software of external matured product
It has sealed up for safekeeping as program bag, its detailed processing procedure and method can not be known by buying external instrument.At present, it is domestic to multiple
The solution that the extracting method of strapdown gravimeter gravity anomaly under miscellaneous sea situation has not been formed.
Invention content
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, provide a kind of suitable for strapdown marine gravitometer
Gravity anomaly data processing method, this method can be used for marine gravitometer data processing, strong antijamming capability, have it is higher
Data processing precision, can as high-precision marine gravitometer gravity anomaly extract data processing method, especially suitable for
The gravity anomaly extraction of Accurate Strapdown formula moving base marine gravitometer.
What the above-mentioned purpose of the present invention was mainly achieved by following technical solution：
A kind of gravity anomaly data processing method suitable for strapdown marine gravitometer includes the following steps：
(1), strapdown marine gravitometer is installed in cabin, strapdown marine gravitometer records the speed of ship in real time
Increment and angular speed increment, and obtain speed increment f under projecting to carrier coordinate systembWith angular speed increment
(2), the initial alignment on moving base of strapdown marine gravitometer is carried out, obtains and is put down from carrier coordinate system to actual mathematical
The posture transfer matrix of platform coordinate systemThe posture transfer matrixWhen being last in the alignment period
Carve the posture transfer matrix at k moment；
(3), according to the posture transfer matrix at moment last moment k in the alignment periodObtain marine navigation
Posture transfer matrix of the current time from carrier coordinate system to actual mathematical platform coordinate system in the processEastern speed ve
(ti), northern speed vn(ti), latitude lat (ti) and longitude lon (ti), wherein tiFor current time；
(4), GPS is measured to the ship movable information obtained and carries out difference processing, obtains DGPS data；
(5), according to strap-down inertial system error equation, state vector is chosen, builds the system mode of Kalman filter
Equation, according to the eastern speed v at current time in step (3)e(ti), northern speed vn(ti), latitude lat (ti) and longitude lon (ti) and
The eastern speed V at the current time in step (4) in DGPS dataE, northern speed VN, longitude λ and latitude L, obtain the difference of corresponding east speed
Value ve(ti)-VE, north speed difference vn(ti)-VN, longitude difference lon (ti)-λ and latitude difference lat (ti)-L, as card
The observed quantity of Thalmann filter is into the estimation of owner of a trading company or a workshop's speed error, the fast error in north, longitude error, latitude error and attitude error；
(6), northeast day is corrected to than force value according to the attitude error at the current time obtained in step (5), is corrected
Northeast day afterwards is to than force value fn'；
(7), slightly value δ g, formula are as follows for calculated gravity anomaly：
Wherein：gbFor the gravity datum value at harbour；
fuFor fn'In day to than force value；
It is the day at harbour to specific force initial value；
auIt is day to acceleration of motion；
δaEFor Etvs corrections；
δaFFor free space correction；
γ0For correction；
δgdriftIt is corrected for null offset.
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, marine navigation process is obtained
The posture transfer matrix at middle current timeEastern speed ve(ti), northern speed vn(ti), latitude lat (ti) and longitude lon (ti)
Specific method it is as follows：
According to the speed increment f of initial time in navigation procedure, i.e.+1 moment of kthb(tk+1), angular speed increment
With the posture transfer matrixShip is in the posture transfer matrix at+1 moment of kth in acquisition navigation procedureEastern speed ve(tk+1), northern speed vn(tk+1), latitude lat (tk+1) and longitude lon (tk+1), according to ship in kth+1
The posture transfer matrix at momentEastern speed ve(tk+1), northern speed vn(tk+1), latitude lat (tk+1) and longitude lon
(tk+1) and+2 moment of kth speed increment fb(tk+2), angular speed incrementThe ship of acquisition is at+2 moment of kth
Posture transfer matrixEastern speed ve(tk+2), northern speed vn(tk+2), latitude lat (tk+2) and longitude lon (tk+2), successively
Analogize, obtain the posture transfer matrix at ship current time in navigation procedureEastern speed ve(ti), northern speed vn(ti)、
Latitude lat (ti) and longitude lon (ti)。
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, posture transfer matrixIt obtains by the following method：
Wherein：
Wherein：For the posture transfer matrix of carrier coordinate system to actual mathematical platform coordinate system, L represents the earth
Latitude, ωieFor rotational-angular velocity of the earth, t0For the initial alignment moment in the alignment period, tkFor appointing in the alignment period
It anticipates the moment；
For the posture transfer matrix of carrier coordinate system to carrier inertial coodinate system, expression is：
In formula：q0 q1 q2 q3Four elements for aligned data section last moment k；
For the posture transfer matrix of carrier inertial coodinate system to warp geocentric inertial coordinate system, expression is：
Wherein：G is earth weight
Force value calculates V respectivelyi(tk1) and Vi(tk2) value, tk1And tk2Two moment being in alignment with respectively in the period；
Δtk=tk-t0,
For posture transfer matrix of the current time from carrier coordinate system to actual mathematical platform coordinate system；
fb(ti) be current time speed increment.
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, carrier coordinate system to carrier
The posture transfer square of inertial coodinate systemIt obtains by the following method：
(3.1), initially it is directed at moment t0, the posture transfer matrix of carrier coordinate system to carrier inertial coodinate systemTable
Show as follows：
Wherein：I is 3 rank unit matrixs, and corresponding four element of initial time is Q (t0)=[1000]；
(3.2), according to t0The four element Q (t at moment0) and t1The angular speed increment at momentObtain t1The four of moment
ElementWherein, Φ=| Φ |；
(3.3), according to t1The four element Q (t at moment1) and t2The angular speed increment at momentObtain t2The quaternary at moment
Plain Q (t2), and so on, four element Q (k)=[q at acquisition k moment aligned data section last moment0 q1 q2 q3], according to Q
(k) it calculatesIt is as follows：
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, differential GPS in step (4)
Data include GPS time, longitude λ, latitude L, height above sea level, geodetic height, northeast day speed (VE, VN, VU), northeast day acceleration, defend
Star number, PDOP, HDOP, VDOP, mass number Q and GPS weeks.
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, according to victory in step (5)
Join inertia system error equation, the state vector X of selectionINSIt is specific to represent as follows for 13 ranks：
Wherein：δ L are latitude error；
δ λ are longitude error；
δve、δvnThe respectively fast error of the fast error in east and north；
φe、φnAnd φuRespectively three attitude error angles；
εx、εyAnd εzZero-bit for laser gyro；
WithFor accelerometer zero.
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, after being corrected in step (6)
Northeast day to than force value fn'It represents as follows：
Wherein：φ × it is antisymmetric matrix,
For posture transfer matrix of the current time from carrier coordinate system to actual mathematical platform coordinate system；
fb(ti) be current time speed increment；
Δ T is systematic sampling interval time.
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, in the step (7)
Slightly value δ g are filtered the gravity anomaly of calculating using digital filter, to improve data precision.
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, digital filtering uses FIR
With IIR low-pass filters, cutoff frequency is less than 0.01Hz；Or use positive and negative Kalman filter.
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, if ship is in driving process
It is middle to there is the crosspoint for forming grid, then survey line net adjusted data processing method is carried out, the systematic error and half system for eliminating instrument are missed
Difference improves measurement accuracy.
The above-mentioned gravity anomaly data processing method suitable for strapdown marine gravitometer, PPP is used in step (4)
GPS is measured the ship movable information obtained and carries out difference processing by technology.
The advantages of the present invention over the prior art are that：
(1), the present invention is using kalman wave filters, estimation inertial navigation resolve in attitude error, to attitude matrix and
It is vertical to be modified than force component, it obtains more accurately than force information, then position, speed and the height that must be provided by PPP technologies
It spends information and calculates each correction member of gravity, finally low-pass filtered to obtain the gravity anomaly information along course line, the present invention can be used for sea
The processing of foreign gravimeter data, strong antijamming capability have higher data processing precision, can be used as high-precision marine gravity
The data processing method of instrument gravity anomaly extraction, the gravity anomaly especially suitable for Accurate Strapdown formula moving base marine gravitometer
Extraction.
(2), the present invention employs inertia solidification it is assumed that carrying out initial alignment on moving base, Ke Yiyou in initial alignment stage
Effect reduces the attitude error brought due to hull shaking, improves initial alignment precision.
(3), the present invention is using the GPS data in PPP technical finesse flight numbers, overcomes and is directed to Differential GPS Technology and is limited
In base station and movement station apart from the problem of, so as to obtain the differential data of degree of precision.
(4), the present invention obtains day to than force information using integrated navigation technology, utilizes the entire flight number of PPP technical finesses
GPS data after correction calculates, removes high-frequency noise by digital lowpass mode and obtains high-precision gravity anomaly signal.
(5), the present invention may be used wave digital lowpass filter and slightly be worth denoising to the gravity anomaly being calculated, and end
Frequency is less than 0.01Hz, further improves the precision of gravity anomaly signal；In addition if ship there are shapes in the process of moving
Into the crosspoint of grid, systematic error and half systematic error in survey line net adjusted data method processing flight number may be used, to improve
The measurement accuracy of gravity anomaly.
Description of the drawings
Fig. 1 is the work flow diagram for the gravity anomaly data processing method that the present invention is suitable for strapdown marine gravitometer；
Fig. 2 is carrier coordinate system of the present invention, relation schematic diagram between navigational coordinate system and actual mathematical platform coordinate system；
Fig. 3 is the hardware installation schematic diagram of the targeted strapdown marine gravitometer of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments：
It is suitable for the workflow of the gravity anomaly data processing method of strapdown marine gravitometer for the present invention as shown in Figure 1
Cheng Tu, gravity anomaly data processing method of the present invention specifically comprise the following steps：
(1) it is right front upper coordinate system to define carrier coordinate system (b systems), is denoted as oxbybzb, origin is located at gravimeter barycenter,
xb、ybAnd zbBe respectively directed to gravimeter it is right, it is preceding, on.Strapdown gravimeter is installed on measurement ship, gravimeter Y-axis is directed toward fore
It is i.e. preceding at this point, gravimeter XYZ axis is respectively directed to the front upper right of ship to being illustrated in figure 3 the targeted strapdown of the present invention
The hardware installation schematic diagram of formula gravimeter.
Strapdown marine gravitometer is installed in cabin, the Y-axis of system is directed toward bow, strapdown marine gravitometer record
The speed increment of ship and angular velocity of satellite motion increment, and obtain speed increment f under projecting to carrier coordinate systembWith angular speed increment
(2) inertia solidification is employed it is assumed that carrying out the initial alignment on moving base of strapdown marine gravitometer, is obtained from carrier
Coordinate system is to the posture transfer matrix of actual mathematical platform coordinate systemThe posture transfer matrixIt is right
The posture transfer matrix at moment last moment k in the quasi- period.
Initialization is carried out to the posture transfer matrix of carrier coordinate system (b systems) to actual mathematical platform coordinate system (n systems) to set
It is fixed；Marine gravity Data processing, navigational coordinate system are usually chosen to geographic coordinate system.It is illustrated in figure 2 carrier coordinate of the present invention
Relation schematic diagram between system, navigational coordinate system and actual mathematical platform coordinate system；
The coordinate system that this method is used is defined as follows：
A) warp terrestrial coordinate system e：Origin is located at the earth's core, ozeAxis is along earth rotation axis direction, oxeAxle position is in equatorial plane
It is interior, it is directed toward gravimeter point warp, oy from the earth's coreeAxis is under the line in plane, oxe、oye、ozeAxis forms right-handed coordinate system.
B) warp geocentric inertial coordinate system i：In alignment initial time t0Moment is by warp terrestrial coordinate system oxeyezeInertia
The coordinate system formed after solidification.
C) navigational coordinate system n '：Origin is located at strapdown gravimeter center, and ox axis is directed toward eastern (E), and oy axis is directed toward northern (N),
Oz axis is directed toward day (U).
D) actual mathematical platform coordinate system n：Coordinate system Ox1y1z1, northeast day is directed approximately toward, with preferable navigation coordinate n ' systems
Between there are misalignment, for example, horizontal misalignment (φe、φn) it is 0.005 °, azimuthal misalignment angle φuIt is 0.08 °.
E) b systems of carrier system：Coordinate system Oxbybzb, origin is located at gravimeter barycenter, xb、ybAnd zbIt is right front upper to be directed toward gravimeter.
F) carrier inertial coodinate system ib0：In alignment initial time t0Moment is by carrier coordinate system oxbybzbAfter inertia solidifies
Coordinate system.
In initial alignment on moving base algorithm, posture battle array is dispersed into 4 matrixes and asks for.If the latitude of alignment point is L, then posture
Transfer matrixIt obtains by the following method：
Wherein：
Wherein：For the posture transfer matrix of carrier coordinate system to actual mathematical platform coordinate system, L represents the earth
Latitude, ωieFor rotational-angular velocity of the earth, t0For the initial alignment moment in the alignment period, tkFor appointing in the alignment period
It anticipates the moment；
For the posture transfer matrix of carrier coordinate system to carrier inertial coodinate system, expression is：
In formula：q0 q1 q2 q3Four elements for aligned data section last moment k.
The posture of carrier coordinate system to carrier inertial coodinate system shifts squareIt obtains by the following method：
(a), initially it is directed at moment t0, the posture transfer matrix of carrier coordinate system to carrier inertial coodinate systemIt represents
It is as follows：
Wherein：I is 3 rank unit matrixs, and corresponding four element of initial time is Q (t0)=[1000]；
(b), according to t0The four element Q (t at moment0) and t1The angular speed increment at momentObtain t1The quaternary at moment
ElementWherein, Φ=| Φ |；
(c), according to t1The four element Q (t at moment1) and t2The angular speed increment at momentObtain t2Four elements at moment
Q(t2), and so on, four element Q (k)=[q at acquisition k moment aligned data section last moment0 q1 q2 q3], according to Q (k)
It calculatesIt is as follows：
For the posture transfer matrix of carrier inertial coodinate system to warp geocentric inertial coordinate system, expression is：
Wherein：G is earth weight
Force value calculates V respectivelyi(tk1) and Vi(tk2) value, tk1And tk2Two moment being in alignment with respectively in the period；
Δtk=tk-t0,
For posture transfer matrix of the current time from carrier coordinate system to actual mathematical platform coordinate system；
fb(ti) be current time speed increment.
(3), according to the posture transfer matrix at moment last moment k in the alignment periodObtain marine navigation
Posture transfer matrix of the current time from carrier coordinate system to actual mathematical platform coordinate system in the processEastern speed ve
(ti), northern speed vn(ti), latitude lat (ti) and longitude lon (ti), wherein tiFor current time；Specific method is as follows：
According to the speed increment f of initial time in navigation procedure, i.e.+1 moment of kthb(tk+1), angular speed increment
With the posture transfer matrixShip is in the posture transfer matrix at+1 moment of kth in acquisition navigation procedureEastern speed ve(tk+1), northern speed vn(tk+1), latitude lat (tk+1) and longitude lon (tk+1)；
According to ship+1 moment of kth posture transfer matrixEastern speed ve(tk+1), northern speed vn(tk+1), latitude
Spend lat (tk+1) and longitude lon (tk+1) and+2 moment of kth speed increment fb(tk+2), angular speed incrementIt obtains
Ship+2 moment of kth posture transfer matrixEastern speed ve(tk+2), northern speed vn(tk+2), latitude lat (tk+2)
With longitude lon (tk+2)；
According to ship+2 moment of kth posture transfer matrixEastern speed ve(tk+2), northern speed vn(tk+2), latitude
Spend lat (tk+2) and longitude lon (tk+2) and+3 moment of kth acceleration increment fb(tk+3), angular speed incrementIt obtains
The ship obtained is in the posture transfer matrix at+3 moment of kthEastern speed ve(tk+3), northern speed vn(tk+3), latitude lat
(tk+3) and longitude lon (tk+3)。
And so on, the posture transfer matrix at acquisition ship current time in navigation procedureEastern speed ve
(ti), northern speed vn(ti), latitude lat (ti) and longitude lon (ti).It is each in navigation procedure that ship can be obtained according to the method described above
The posture transfer matrix at momentEastern speed ve(t), northern speed vn(t), latitude lat (t) and longitude lon (t).
(4), the GPS moving station numbers evidence and precise ephemeris recorded during being measured according to ship, using in waypoint softwares
PPP technologies, differential GPS information is obtained, including GPS time, longitude λ, latitude L, height above sea level, geodetic height, northeast day speed
(VE, VN, VU), northeast day acceleration, satellite number, PDOP, HDOP, VDOP, mass number Q and GPS weeks.Obtain DGPS data
Afterwards, step (5) is carried out.
(5), according to strap-down inertial system error equation, state vector is chosen, builds the system mode of Kalman filter
Equation, according to the eastern speed v at current time in step (3)e(ti), northern speed vn(ti), latitude lat (ti) and longitude lon (ti) and
The eastern speed V at the current time in step (4) in DGPS dataE, northern speed VN, longitude λ and latitude L, obtain the difference of corresponding east speed
Value ve(ti)-VE, north speed difference vn(ti)-VN, longitude difference lon (ti)-λ and latitude difference lat (ti)-L, as card
The observed quantity of Thalmann filter is into the estimation of owner of a trading company or a workshop's speed error, the fast error in north, longitude error, latitude error and attitude error.
Estimated to correct parameters error, particularly position, speed and attitude error according to kalman wave filters, correct and divide
For open loop and Closed-cycle correction two ways.After the completion, it enters step (6).
The state vector X of selectionINSIt is specific to represent as follows for 13 ranks：
According to measuring environment, ignore the non-principal error parameter in part, employ the error side of following strap-down inertial system
Journey
In formula, δ L are latitude error；
δ λ are longitude error；
δve、δvnRespectively east, the fast error in north；
φe、φnAnd φuRespectively three attitude error angles, it is generally the case that φ is a small amount of；
εx、εyAnd εzZero-bit for laser gyro；
WithFor accelerometer zero；
Tij(i=1,2,3；J=1,2,3) it is posture battle arrayElement.
(6), according to the current time attitude error obtained in step (5), northeast day is corrected to than force value, after obtaining amendment
Northeast day to than force value fn', complete to enter step (7) after correcting.
Wherein：φ × it is antisymmetric matrix,
For posture transfer matrix of the current time from carrier coordinate system to actual mathematical platform coordinate system；
fb(ti) be current time speed increment.
(7), slightly value δ g, formula are as follows for calculated gravity anomaly：
In formula：gbIt is setting value for the gravity datum value at harbour；
fuFor fn'In day to than force value；
It is the day at harbour to specific force initial value；
auBe day to acceleration of motion, obtained according to the GPS height second order differences provided；
δaEFor Etvs corrections；
δaFFor free space correction；
γ0For correction；
δgdriftIt is corrected for null offset, different time is in same point when null offset correction is each flight number gravity measurement
Observation variation correction.
Wherein each correction member of calculated gravity anomaly changes including Etvs corrections, day to acceleration of motion, normal gravity
Just, free air correction, null offset correction are had by oneself, each correction member calculation formula is as follows.E Tefusi：
It is to acceleration of motion：
It can be set up according to GPS pseudorange, carrier phase and the Doppler frequency shift observations provided and its single poor, double difference
Using least square method, carrier positions, speed and acceleration is obtained in observational equation.Then using DGPS data, using position
It puts difference, speed difference or carrier phase difference method of grading and calculates day to acceleration of motion.
Normal gravity：
γ0=9.780327 (1+0.0053024sin2L-0.0000058sin22L)
Free space：
Null offset is corrected：
Gravimetric null offset rate can be calculated by linearization approximate, be had
Wherein, C is the null offset change rate of this measurement,WithThe day of respectively front and rear school datum is to specific force
Value,WithThe gravitational field of respectively front and rear school datum, t1And t0F is corresponded to respectively1 uWithObservation time.
Then null offset corrected value is
δgdrift=C (t-t0)
In formula, null offset change rates of the C for this measurement, Δ tiFor the measurement time of i-th of measuring point and in datum mark
The time difference at preceding school moment.
It completes to enter step (8) after calculating.
(8) δ g are filtered using digital filter, obtain high-precision gravity abnormal signal, can be used using wave filter
FIR and iir filter, cutoff frequency are less than 0.01Hz；Positive and negative kalman wave filters can also be used.
(9) if ship has the crosspoint for forming grid in the process of moving, survey line net adjusted data processing method is carried out, is disappeared
Except the systematic error and half systematic error of instrument, measurement accuracy is improved.
The above, best specific embodiment only of the invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (10)
1. a kind of gravity anomaly data processing method suitable for strapdown marine gravitometer, it is characterised in that：Including walking as follows
Suddenly：
(1), strapdown marine gravitometer is installed in cabin, strapdown marine gravitometer records the speed increment of ship in real time
With angular speed increment, and project to obtaining speed increment f under carrier coordinate systembWith angular speed increment
(2), the initial alignment on moving base of strapdown marine gravitometer is carried out, obtains from carrier coordinate system to actual mathematical platform and sits
Mark the posture transfer matrix of systemThe posture transfer matrixDuring to be directed at last moment k in the period
The posture transfer matrix at quarter；
(3), according to the posture transfer matrix at moment last moment k in the alignment periodObtain marine navigation process
Posture transfer matrix of the middle current time from carrier coordinate system to actual mathematical platform coordinate systemEastern speed ve(ti)、
Northern speed vn(ti), latitude lat (ti) and longitude lon (ti), wherein tiFor current time；
(4), GPS is measured to the ship movable information obtained and carries out difference processing, obtains DGPS data；
(5), according to strap-down inertial system error equation, state vector is chosen, builds the system state equation of Kalman filter,
According to the eastern speed v at current time in step (3)e(ti), northern speed vn(ti), latitude lat (ti) and longitude lon (ti) and step
(4) the eastern speed V at the current time in DGPS dataE, northern speed Vn, longitude λ and latitude L, obtain the difference v of corresponding east speede
(ti)-VE, north speed difference vn(ti)-VN, longitude difference lon (ti)-λ and latitude difference lat (ti)-L, as Kalman
The observed quantity of wave filter, into the estimation of owner of a trading company or a workshop's speed error, the fast error in north, longitude error, latitude error and attitude error；
(6), northeast day is corrected to than force value according to the attitude error at the current time obtained in step (5), obtained revised
Northeast day is to than force value fn'；
(7), slightly value δ g, formula are as follows for calculated gravity anomaly：
Wherein：gbFor the gravity datum value at harbour；
fuFor fn'In day to than force value；
It is the day at harbour to specific force initial value；
auIt is day to acceleration of motion；
δaEFor Etvs corrections；
δaFFor free space correction；
γ0For correction；
δgdriftIt is corrected for null offset；
Revised northeast day is to than force value f in the step (6)n'It represents as follows：
Wherein：φ × it is antisymmetric matrix,
For posture transfer matrix of the current time from carrier coordinate system to actual mathematical platform coordinate system；
fb(ti) be current time speed increment；
Δ T is systematic sampling interval time.
2. a kind of gravity anomaly data processing method suitable for strapdown marine gravitometer according to claim 1,
It is characterized in that：Current time shifts from carrier coordinate system to the posture of actual mathematical platform coordinate system during obtaining marine navigation
MatrixEastern speed ve(ti), northern speed vn(ti), latitude lat (ti) and longitude lon (ti) specific method it is as follows：
According to the speed increment f of initial time in navigation procedure, i.e.+1 moment of kthb(tk+1), angular speed incrementAnd institute
State posture transfer matrixShip is in the posture transfer matrix at+1 moment of kth in acquisition navigation procedure
Eastern speed ve(tk+1), northern speed vn(tk+1), latitude lat (tk+1) and longitude lon (tk+1), turned according to posture of the ship at+1 moment of kth
Move matrixEastern speed ve(tk+1), northern speed vn(tk+1), latitude lat (tk+1) and longitude lon (tk+1) and kth+2
The speed increment f at momentb(tk+2), angular speed incrementThe ship of acquisition is in the posture transfer matrix at+2 moment of kthEastern speed ve(tk+2), northern speed vn(tk+2), latitude lat (tk+2) and longitude lon (tk+2), and so on, obtain ship
The posture transfer matrix at oceangoing ship current time in navigation procedureEastern speed ve(ti), northern speed vn(ti), latitude lat (ti)
With longitude lon (ti)。
3. a kind of gravity anomaly data processing method suitable for strapdown marine gravitometer according to claim 1,
It is characterized in that：The posture transfer matrixIt obtains by the following method：
Wherein：
Wherein：For the posture transfer matrix of carrier coordinate system to actual mathematical platform coordinate system, L represents big ground weft
Degree, ωieFor rotational-angular velocity of the earth, t0For the initial alignment moment in the alignment period, tkIt is arbitrary in the alignment period
Moment；
For the posture transfer matrix of carrier coordinate system to carrier inertial coodinate system, expression is：
In formula：q0、q1、q2、q3Four elements for aligned data section last moment k；
For the posture transfer matrix of carrier inertial coodinate system to warp geocentric inertial coordinate system, expression is：
Wherein：G is terrestrial gravitation value,
V is calculated respectivelyi(tk1) and Vi(tk2) value, tk1And tk2Two moment being in alignment with respectively in the period；
Δtk=tk-t0,
For posture transfer matrix of the current time from carrier coordinate system to actual mathematical platform coordinate system；
fb(ti) be current time speed increment.
4. a kind of gravity anomaly data processing method suitable for strapdown marine gravitometer according to claim 3,
It is characterized in that：The posture of the carrier coordinate system to carrier inertial coodinate system shifts squareIt obtains by the following method：
(3.1), initially it is directed at moment t0, the posture transfer matrix of carrier coordinate system to carrier inertial coodinate systemIt represents such as
Under：
Wherein：I is 3 rank unit matrixs, and corresponding four element of initial time is Q (t0)=[1 00 0]；
(3.2), according to t0The four element Q (t at moment0) and t1The angular speed increment at momentObtain t1Four elements at momentWherein,Φ=| Φ |；
(3.3), according to t1The four element Q (t at moment1) and t2The angular speed increment at momentObtain t2The four element Q at moment
(t2), and so on, four element Q (k)=[q at acquisition k moment aligned data section last moment0 q1 q2 q3], it is counted according to Q (k)
It calculatesIt is as follows：
5. a kind of gravity anomaly data processing suitable for strapdown marine gravitometer according to one of Claims 1 to 4
Method, it is characterised in that：DGPS data includes GPS time, longitude λ, latitude L, height above sea level, the earth in the step (4)
High, northeast day speed (VE, VN, VU), northeast day acceleration, satellite number, PDOP, HDOP, VDOP, mass number Q and GPS weeks.
6. a kind of gravity anomaly data processing suitable for strapdown marine gravitometer according to one of Claims 1 to 4
Method, it is characterised in that：According to strap-down inertial system error equation, the state vector X of selection in the step (5)INSIt is 13
Rank, it is specific to represent as follows：
Wherein：δ L are latitude error；
δ λ are longitude error；
δve、δvnThe respectively fast error of the fast error in east and north；
φe、φnAnd φuRespectively three attitude error angles；
εx、εyAnd εzZero-bit for laser gyro；
WithFor accelerometer zero.
7. a kind of gravity anomaly data processing suitable for strapdown marine gravitometer according to one of Claims 1 to 4
Method, it is characterised in that：To the step (7), slightly value δ g are filtered place to the middle gravity anomaly calculated using digital filter
Reason, to improve data precision.
8. a kind of gravity anomaly data processing method suitable for strapdown marine gravitometer according to claim 7,
It is characterized in that：The digital filtering uses FIR and IIR low-pass filters, and cutoff frequency is less than 0.01Hz；Or use positive and negative card
Thalmann filter.
9. a kind of gravity anomaly data processing suitable for strapdown marine gravitometer according to one of Claims 1 to 4
Method, it is characterised in that：If ship has the crosspoint for forming grid in the process of moving, survey line net adjusted data processing side is carried out
Method eliminates the systematic error and half systematic error of instrument, improves measurement accuracy.
10. a kind of gravity anomaly data processing suitable for strapdown marine gravitometer according to one of Claims 1 to 4
Method, it is characterised in that：GPS is measured to the ship movable information obtained to carry out at difference using PPP technologies in the step (4)
Reason.
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| CN107589464B (en) * | 2017-09-07 | 2018-05-15 | 中国石油大学(华东) | A kind of satellite-derived gravity data data and shipborne gravimetric data data fusion method |
| CN108279440B (en) * | 2018-02-01 | 2019-08-23 | 中国自然资源航空物探遥感中心 | A kind of non-traversal search method in airborne gravity survey grid crosspoint |
| CN109001829B (en) * | 2018-07-12 | 2019-11-05 | 中国人民解放军国防科技大学 | Strapdown underwater dynamic gravity measuring instrument |
| CN111123381B (en) * | 2018-11-01 | 2022-04-12 | 北京自动化控制设备研究所 | Method for reducing horizontal acceleration influence for platform type gravimeter |
| CN109682397B (en) * | 2018-12-18 | 2021-01-29 | 上海航天控制技术研究所 | Ground static alignment method capable of fast convergence without being influenced by historical data |
| CN111812737B (en) * | 2020-06-17 | 2021-05-11 | 东南大学 | Integrated system for underwater navigation and gravity measurement |
| CN111735442A (en) * | 2020-06-17 | 2020-10-02 | 东南大学 | Underwater gravity passive navigation system |
| CN111722302A (en) * | 2020-06-29 | 2020-09-29 | 宁夏大学 | Vertical acceleration correction method for AUV (autonomous Underwater vehicle) gravimeter |
| CN111722295B (en) * | 2020-07-04 | 2021-04-23 | 东南大学 | Underwater strapdown gravity measurement data processing method |
| CN112346140B (en) * | 2020-10-15 | 2022-10-14 | 北京航天控制仪器研究所 | Host stabilizing device of strapdown marine gravimeter |
| CN112415634B (en) * | 2020-10-27 | 2021-12-07 | 青岛海洋地质研究所 | Dynamic gravimeter zero drift compensation method based on satellite gravity anomaly information |
| CN112487604B (en) * | 2020-10-27 | 2022-08-16 | 青岛海洋地质研究所 | Long-time nonlinear drift compensation method for output data of marine gravimeter |
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